io - 1embedded systems lab./honam university cpus zinput and output. zsupervisor mode, exceptions,...

IO - 1 Embedded Systems Lab./Honam University

CPUs

Input and output.Supervisor mode, exceptions, traps.Co-processors.

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I/O devices

Usually includes some non-digital component.Typical digital interface to CPU:

CPU

statusreg

datareg

mec

hani

sm

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Motorola 16-bit Microcontroller

MC68HC16Z1 – 16-bit CPU, SIM, GPT, QSM, ADC, RAM. Powerful, complex modules w register banks

Intermodule Bus 24-bit address bus, 16-bit data bus; External Bus

shared with peer processors7 level Extl Interrupts8 Analog Inputs, Event capture and assertion Timer

Inputs/outputs, Synchronous and Asynchronous Serial Communication;

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Application: 8251 UART

Universal asynchronous receiver transmitter (UART) : provides serial communication.

8251 functions are integrated into standard PC interface chip.

Allows many communication parameters to be programmed.

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Serial communication

Characters are transmitted separately:

time

bit 0 bit 1 bit n-1

nochar

start stop...

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Serial communication parameters

Baud (bit) rate.Number of bits per character.Parity/no parity.Even/odd parity.Length of stop bit (1, 1.5, 2 bits).

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8251 CPU interface

CPU 8251

status(8 bit)

data(8 bit)

serialport

xmit/rcv

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Programming I/O

Two types of instructions can support I/O: special-purpose I/O instructions; memory-mapped load/store instructions.

Intel x86 provides in, out instructions. Most other CPUs use memory-mapped I/O.

I/O instructions do not preclude memory-mapped I/O.

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ARM memory-mapped I/O

Define location for device:

DEV1 EQU 0x1000Read/write code:

LDR r1,#DEV1 ; set up device adrsLDR r0,[r1] ; read DEV1LDR r0,#8 ; set up value to writeSTR r0,[r1] ; write value to device

WHY ACCESS THESE REGISTERS?

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SHARC memory mapped I/O

Device must be in external memory space (above 0x400000).

Use DM to control access:I0 = 0x400000;M0 = 0;R1 = DM(I0,M0);

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Peek and poke

Traditional HLL interfaces:int peek(char *location) {return *location; }

void poke(char *location, char newval) {(*location) = newval; }

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Busy/wait output

Simplest way to program device. Use instructions to test when device is ready.

current_char = mystring;while (*current_char != ‘\0’) {poke(OUT_CHAR,*current_char);while (peek(OUT_STATUS) != 0);current_char++;

}

Pg. 110 - Dev Addr, String

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Simultaneous busy/wait input and output

while (TRUE) {/* read */while (peek(IN_STATUS) == 0);achar = (char)peek(IN_DATA);Poke (IN_STATUS,0);/* write */poke(OUT_DATA,achar);poke(OUT_STATUS,1);while (peek(OUT_STATUS) != 0);}

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Interrupt I/O

Busy/wait is very inefficient. CPU can’t do other work while testing device. Hard to do simultaneous I/O.

Interrupts allow a device to change the flow of control in the CPU. Causes subroutine call to handle device.

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Interrupt interface

CPU

statusreg

datareg

mec

hani

sm

PC

intr request

intr ack

data/address

IR

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Interrupt behavior

Based on subroutine call mechanism. Interrupt forces next instruction to be a

subroutine call to a predetermined location. Return address is saved to resume executing

foreground program.

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Interrupt physical interface

CPU and device are connected by CPU bus.CPU and device handshake:

device asserts interrupt request; CPU asserts interrupt acknowledge when it can

handle the interrupt.

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Example: character I/O handlers

void input_handler() {achar = peek(IN_DATA);gotchar = TRUE;poke(IN_STATUS,0);

}void output_handler() {}

Global Parameters to communicate with foreground program

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Example: interrupt-driven main program

main() {while (TRUE) {

if (gotchar) {poke(OUT_DATA,achar);poke(OUT_STATUS,1);gotchar = FALSE;}

}}

Foreground program: still no useful work

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Example: interrupt I/O with buffers

Queue for characters:

head tailhead tail

a

Example 3-6, Pg 114. Foreground: useful work

Last spot unused

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Buffer-based input handler

void input_handler() {char achar;if (full_buffer()) error = 1;else { achar = peek(IN_DATA); add_char(achar); }poke(IN_STATUS,0);if (nchars == 1)

{ poke(OUT_DATA,remove_char(); poke(OUT_STATUS,1); }} Only to start off

character outputting

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I/O sequence diagram

:foreground :input :output :queue

empty

a

empty

b

bc

c

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Debugging interrupt code

What if you forget to change registers? Foreground program can exhibit mysterious bugs. Bugs will be hard to repeat---depend on interrupt

timing.

Book Example 3-7, Page 119: Interrupt Handler changes value of j in the foreground matrix program. HOW? Is it time sensitive? Can we overcome the problem?

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Priorities and vectors

Two mechanisms allow us to make interrupts more specific: Priorities determine what interrupt gets CPU first. Vectors determine what code is called for each type

of interrupt.

Mechanisms are orthogonal: most CPUs provide both.

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Prioritized interrupts

CPU

device 1 device 2 device n

R0 R1 .. Rn

interruptacknowledge IR0 IR1

IRn

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Interrupt prioritization

Masking: interrupt with priority lower than current priority is not recognized until pending interrupt is complete.

Non-maskable interrupt (NMI): highest-priority, never masked. Often used for power-down.

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Example: Prioritized I/O

:interrupts :foreground :A :B :C

B

A,B

C

A

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Interrupt vectors

Allow different devices to be handled by different code.

Interrupt vector table:

handler 0

handler 1

handler 2

handler 3

Interruptvector

table head

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Interrupt vector acquisition

:CPU :device

receiverequest

receiveack

receivevector

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Generic interrupt mechanism

intr?N

YAssume priority selection is

handled before this point.

Nignore

Y

ack

vector?Y

Y

Ntimeout?

Ybus error

call table[vector]

intr priority > current priority?

continueexecution

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Interrupt sequence

CPU acknowledges request.Device sends vector.CPU calls handler.Software processes request.CPU restores state to foreground program.

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Sources of interrupt overhead

Handler execution time. Interrupt mechanism overhead.Register save/restore.Pipeline-related penalties.Cache-related penalties.

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ARM interrupts

ARM7 supports two types of interrupts: Fast interrupt requests (FIQs). Interrupt requests (IRQs).

Interrupt table starts at location 0.

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ARM interrupt procedure

CPU actions: Save PC. Copy CPSR to SPSR. Force bits in CPSR to record interrupt. Force PC to vector.

Handler responsibilities: Restore proper PC. Restore CPSR from SPSR. Clear interrupt disable flags.

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ARM interrupt latency

Worst-case latency to respond to interrupt is 27 cycles: Two cycles to synchronize external request. Up to 20 cycles to complete current instruction. Three cycles for data abort. Two cycles to enter interrupt handling state.

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SHARC interrupt structure

Interrupts are vectored and prioritized.Priorities are fixed: reset highest, user SW

interrupt 3 lowest.Vectors are also fixed. Vector is offset in vector

table. Table starts at 0x20000 in internal memory, 0x40000 in external memory.v

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SHARC interrupt sequence

Start: must be executing or IDLE/IDLE16.

1. Output appropriate interrupt vector address.

2. Push PC value onto PC stack.

3. Set bit in interrupt latch register.

4. Set IMASKP to current nesting state.

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SHARC interrupt return

Initiated by RTI instruction.

1. Return to address at top of PC stack.

2. Pop PC stack.

3. Pop status stack if appropriate.

4. Clear bits in interrupt latch register and IMASKP.

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SHARC interrupt performance

Three stages of response: 1 cycle: synchronization and latching; 1 cycle: recognition; 2 cycles: brancing to vector.

Total latency: 3 cycles.

Multiprocessor vector interrupts have 6 cycle latency.

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Supervisor mode

May want to provide protective barriers between programs. Avoid memory corruption.

Need supervisor mode to manage the various programs.

SHARC does not have a supervisor mode.

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ARM supervisor mode

Use SWI instruction to enter supervisor mode, similar to subroutine:SWI CODE_1

Sets PC to 0x08. Argument to SWI is passed to supervisor mode

code.Saves CPSR in SPSR.

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Exception

Exception: internally detected error.Exceptions are synchronous with instructions

but unpredictable.Build exception mechanism on top of interrupt

mechanism.Exceptions are usually prioritized and

vectorized.

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Trap

Trap (software interrupt): an exception generated by an instruction. Call supervisor mode.

ARM uses SWI instruction for traps.SHARC offers three levels of software

interrupts. Called by setting bits in IRPTL register.

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Co-processor

Co-processor: added function unit that is called by instruction. Floating-point units are often structured as co-

processors.

ARM allows up to 16 designer-selected co-processors. Floating-point co-processor uses units 1 and 2.